CN108247615B - Working platform for multi-station air valve assembly robot and application method thereof - Google Patents
Working platform for multi-station air valve assembly robot and application method thereof Download PDFInfo
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- CN108247615B CN108247615B CN201810192583.0A CN201810192583A CN108247615B CN 108247615 B CN108247615 B CN 108247615B CN 201810192583 A CN201810192583 A CN 201810192583A CN 108247615 B CN108247615 B CN 108247615B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention belongs to the field of accessory equipment of an assembly robot, and particularly relates to a working platform for a multi-station air valve assembly robot and a use method thereof, wherein the working platform comprises a working platform (1), an electric cabinet (2), a worm wheel screw rod lifter (3), a Mecanum wheel (4), a frame (6) and an electric control module; the electrical control module comprises a parameter input and selection module (10), a sensor unit, a counter unit (16), an image processing module, a PLC controller, a power supply system and an executing mechanism; the signal transmission ports of the parameter input and selection module (10), the sensor unit, the counter unit (16) and the image processing module are respectively connected with the signal transmission port of the PLC controller; the actuating mechanism comprises an A servo motor (17) and a B servo motor (18). The invention has accurate movement, reliable work and high efficiency, can realize movement in any direction, and the working platform not only can set lifting height, but also can adjust the level.
Description
Technical Field
The invention belongs to the field of accessory equipment of an assembly robot, and particularly relates to a working platform for a multi-station air valve assembly robot and a use method thereof.
Background
At present, most of assembly robots on the market are of a single-station working type, each robot can only complete one set of assembly action under one station, and only one compressor type can be assembled, so that a plurality of robots are needed to complete the whole assembly task, the cost is high, and under the condition that the working space is limited, the plurality of robots are not suitable to be arranged, and the robots can interfere with each other during working, so that the assembly robot is inconvenient to use, poor in working environment and low in efficiency.
Disclosure of Invention
The invention aims to solve the technical problem of providing the working platform for the multi-station air valve assembly robot, which has the advantages of simple structure, convenience in use, reliability in work, high efficiency and low cost, and can realize the assembly tasks of different compressor types, different stations and different air valves under the same working platform, and the use method thereof.
The present invention is so implemented as to solve the above-mentioned technical problems.
A working platform for a multi-station air valve assembly robot comprises a working platform, an electric cabinet, a worm wheel screw rod lifter, a Mecanum wheel, a frame and an electric control module; the workbench is fixedly arranged in the central area of the frame; the electric cabinet is arranged on the side surface of the workbench; the worm wheel screw rod lifter is vertically and fixedly arranged at four corners of the frame; the electrical control module comprises a parameter input and selection module, a sensor unit, a counter unit, an image processing module, a PLC controller, a power supply system and an executing mechanism; the signal transmission ports of the parameter input and selection module, the sensor unit, the counter unit and the image processing module are respectively connected with the signal transmission port of the PLC controller; the counter unit is arranged on an input shaft of the worm wheel screw rod lifter; the actuating mechanism comprises an A servo motor and a B servo motor; the A servo motor is fixedly arranged on the Mecanum wheel mounting frame, and the power output end of the A servo motor is connected with the power input end of the Mecanum wheel; the servo motor B is fixedly arranged at the bottom of the frame, and the power output end of the servo motor B is connected with the power input end of the worm wheel screw rod lifter; the signal transmission port of the servo motor A and the signal transmission port of the servo motor B are respectively connected with the signal transmission port of the PLC through a driver; the power supply system provides power for the PLC controller, the A servo motor and the B servo motor respectively.
As a preferable scheme, the damping spring shock absorber is fixedly arranged between the frame and the Mecanum wheel.
Further, the image processing module is fixedly arranged at the top of the worm wheel screw lifter (3).
Further, the invention is also provided with a wireless remote controller and a wireless receiver; and the signal transmission port of the wireless receiver is connected with the signal transmission port of the PLC.
Further, the invention is also provided with an audio module; and the signal transmission port of the audio module is connected with the signal transmission port of the PLC.
Further, the sensor unit comprises an infrared ranging sensor, a horizontal sensor, an ultrasonic module, an electronic compass and a code disc; the infrared ranging sensor is fixedly arranged in the center area of the bottom of the workbench; the ultrasonic module is arranged on the same side as the infrared distance measuring sensor and is arranged at two ends of the workbench.
Further, the invention is also provided with a telescopic supporting leg and a crank; the telescopic support legs are contracted and then are arranged in the guide rails at the two ends of the frame; the working end of the crank is arranged on the telescopic supporting leg.
The application method for the working platform of the multi-station air valve assembly robot comprises the following steps:
(1) Connecting a data interface in the electrical control module with data of the robot control cabinet; starting the robot after opening the working platform switch;
(2) Selecting the type of the compressor assembled at this time from a man-machine interaction interface of the parameter input and selection module, selecting the type of the air valve assembled at this time, selecting a required assembly station, and selecting a robot assembly program executed under the corresponding station;
(3) Setting the distance between the robot and the workpiece in a man-machine interaction interface of the parameter input and selection module, setting the moving route and the pose of the working platform, setting the lifting height of the working platform and setting the working angle of the working platform;
(4) After the working platform reaches a designated station, a position locating program is started, the set distance is controlled by an infrared ranging sensor, the working platform is overlapped with an X axis of an assembly body, and then the Y axis of the working platform is controlled and adjusted to be parallel to the Y axis of the assembly body by two ultrasonic ranging sensors through an algorithm;
(5) Starting a lifting program, firstly controlling the turbine screw rod lifter to lift to a set height by a counter unit, and then controlling the turbine screw rod lifter by a level sensor to adjust to the working angle of a set working platform;
(6) The working platform completes basic work, a preselected assembly program is sent to the robot, and the robot starts to work;
(7) After the robot work is completed, a working platform signal is returned, and the turbine screw rod lifter is retracted;
(8) After the working station is completed, the working platform executes the next working station program, and the steps (4) to (7) are repeated until all the working stations are completed.
According to the invention, if manual operation is needed, a wireless remote controller is adopted for operation; and setting the moving route and pose parameters in the parameter input and selection module to be '1', and using a wireless remote controller to perform manual operation of each subroutine.
The invention has the advantages of simple structure, accurate movement, convenient use, reliable work, high efficiency and low cost, can realize movement in any direction, and the working platform not only can set lifting height, but also can adjust the level. The invention completes the assembly task of mechanical parts by executing different robot programs on a plurality of stations by one robot. Under the condition that the combined working space of a plurality of robots is insufficient, a single robot is used for working at multiple stations so as to save the working space, and the combined working space has more profound practical significance. As the single robot is used for completing multi-station work, the use cost of the robot can be greatly saved, so that the assembly robot can be used in assembly production and mechanical equipment maintenance. The equipment utilization rate is improved, and the enterprise fund investment is reduced.
Compared with the prior art, the invention has the following advantages:
1. the movement mode adopts the Mecanum wheel, thereby realizing the movement in any direction, and having accurate movement and high precision;
2. the working platform adopts a worm wheel screw rod lifter, so that the lifting height of the working platform can be set to compensate the working height of the robot, the leveling of the platform is realized, and the accuracy of a robot coordinate system is ensured;
3. adopting an optimization algorithm to ensure that the robot coordinate system coincides with the X axis of the assembly coordinate system; the optimization algorithm can adopt a primary product, relates to simple closed-loop control, enters a comparator in a PLC program according to the return value of the ranging sensor, and continuously compares and corrects the expected value set in the comparator. Polynomial of a transfer function which can be deduced according to classical control theory;
4. the movable working platform realizes the multi-station work of the robot, can be assembled with air valves of compressor types of different models, not only can be used in assembly production, but also can be used in mechanical equipment maintenance. The equipment utilization rate is improved, and the enterprise fund investment is greatly reduced.
Drawings
The invention is further described below with reference to the drawings and the detailed description. The scope of the present invention is not limited to the following description.
Fig. 1 is a schematic top view of a mechanical part of the present invention.
Fig. 2 is a schematic view showing a bottom perspective structure of a mechanical part according to the present invention.
Fig. 3 is a schematic block diagram of the electrical portion of the present invention.
Fig. 4 is a schematic diagram showing connection of each unit of the electrical part of the present invention with a PLC controller.
Fig. 5 is a control flow chart of the lifting system.
In the figure: 1. a work table; 2. an electric control box; 3. a worm wheel screw rod lifter; 4. mecanum wheel; 5. damping spring shock absorber; 6. a frame; 7. a telescopic support leg; 8. a crank; 9. a control box; 10. a parameter input and selection module; 11. an acrylic plate; 12. a robot mounting position; 13. an ultrasonic ranging sensor; 141. a level sensor; 142. an electronic compass; 143. a code wheel; 15. an infrared ranging sensor; 16. a counter unit; 17. a, a servo motor; 18. a servo motor; 19 is a channel steel; 20. and an image processing module.
Detailed Description
As shown in the figure, the working platform for the multi-station air valve assembly robot comprises a working platform 1, an electric cabinet 2, a worm wheel screw rod lifter 3, a Mecanum wheel 4, a frame 6 and an electric control module; the workbench 1 is fixedly arranged in the central area of the frame 6; the electric cabinet 2 is arranged on the side surface of the workbench 1; the worm wheel screw rod lifter 3 is vertically and fixedly arranged at four corners of the frame 6; the electric control module comprises a parameter input and selection module 10, a sensor unit, a counter unit 16, an image processing module, a PLC controller, a power supply system and an executing mechanism; the signal transmission ports of the parameter input and selection module 10, the sensor unit, the counter unit 16 and the image processing module are respectively connected with the signal transmission port of the PLC controller; the counter unit 16 is arranged on the input shaft of the worm wheel screw lifter 3; the actuating mechanism comprises an A servo motor 17 and a B servo motor 18; the A servo motor 17 is fixedly arranged on the installation frame of the Mecanum wheel 4, and the power output end of the A servo motor is connected with the power input end of the Mecanum wheel 4; the servo motor 18 is fixedly arranged at the bottom of the frame 6, and the power output end of the servo motor is connected with the power input end of the worm wheel screw lifter; the signal transmission ports of the A servo motor 17 and the B servo motor 18 are respectively connected with the signal transmission port of the PLC through a driver; the power supply system respectively provides power to the PLC controller, the A servo motor 17 and the B servo motor 18.
A damping spring shock absorber 5 is fixedly arranged between the frame 6 and the Mecanum wheel 4. The image processing module is fixedly arranged at the top of the worm wheel screw rod lifter 3. According to design requirements, the invention is also provided with a wireless remote controller and a wireless receiver; and the signal transmission port of the wireless receiver is connected with the signal transmission port of the PLC. The invention is also provided with an audio module; and the signal transmission port of the audio module is connected with the signal transmission port of the PLC.
The sensor unit comprises an infrared ranging sensor 15, a horizontal sensor 141, an ultrasonic module 13, an electronic compass 142 and a code disc 143 (the code disc 143 is integrated at the tail parts of four A servo motors 17, as shown in figure 2); the infrared ranging sensor 15 is fixedly arranged in the bottom center area of the workbench 1; the ultrasonic module 13 is arranged on the same side as the infrared distance measuring sensor 15 and is arranged at two ends of the workbench 1. The invention is also provided with a telescopic supporting leg 7 and a crank 8; the telescopic support legs 7 are arranged in the guide rails at the two ends of the frame 6 after being contracted; the working end of the crank 8 is arranged on the telescopic supporting leg 7.
The application method for the working platform of the multi-station air valve assembly robot comprises the following steps:
(1) Connecting a data interface in the electrical control module with data of the robot control cabinet; starting the robot after opening the working platform switch;
(2) Selecting the type of the compressor assembled at this time from a man-machine interaction interface of the parameter input and selection module, selecting the type of the air valve assembled at this time, selecting a required assembly station, and selecting a robot assembly program executed under the corresponding station;
(3) Setting the distance between the robot and the workpiece in a man-machine interaction interface of the parameter input and selection module, setting the moving route and the pose of the working platform, setting the lifting height of the working platform and setting the working angle of the working platform;
(4) After the working platform reaches a designated station, a position locating program is started, the set distance is controlled by an infrared ranging sensor, the working platform is overlapped with an X axis of an assembly body, and then the Y axis of the working platform is controlled and adjusted to be parallel to the Y axis of the assembly body by two ultrasonic ranging sensors through an algorithm;
(5) Starting a lifting program, firstly controlling the turbine screw rod lifter to lift to a set height by a counter unit, and then controlling the turbine screw rod lifter by a level sensor to adjust to the working angle of a set working platform;
(6) The working platform completes basic work, a preselected assembly program is sent to the robot, and the robot starts to work;
(7) After the robot work is completed, a working platform signal is returned, and the turbine screw rod lifter is retracted;
(8) After the working station is completed, the working platform executes the next working station program, and the steps (4) to (7) are repeated until all the working stations are completed.
According to the invention, if manual operation is needed, a wireless remote controller is adopted for operation; and setting the moving route and pose parameters in the parameter input and selection module to be '1', and using a wireless remote controller to perform manual operation of each subroutine.
The invention can be used for moving, positioning and controlling the multi-station assembly robot. In a specific design, the invention comprises a mechanical part and an electrical control part; wherein the mechanical part includes: the device comprises a workbench 1, an electric cabinet 2, a worm wheel screw rod lifter 3, a Mecanum wheel 4, a damping spring shock absorber 5, a frame 6, telescopic supporting legs 7, a crank 8, a control box 9 and an acrylic plate 11; the workbench 1 is fixed in the central region of the frame 6, the electric cabinets 2 are respectively placed on two sides of the workbench 1, the worm wheel screw lifters 3 are fixedly installed at four corners of the frame 6, the damping spring shock absorbers 5 are used for connecting the frame 6 with the Mecanum wheels 4, the telescopic supporting legs 7 are contracted and placed in guide rails at two ends of the frame 6, the crank 8 is installed on the telescopic supporting legs 7, the control boxes 9 and the parameter input and selection modules 10 are respectively placed on the bottom sides of the two electric cabinets 2, the Fang Jiaojie acrylic plates 11 are arranged on the control boxes 9, the frame 6 is welded by rectangular pipes, and hollow parts can be used as channels of electric circuits. The electrical control section includes: terminal equipment (parameter input and selection module 10 and wireless remote controller), a sensor unit, a counter unit, an image processing module, a PLC controller, a power supply system, an actuator and an audio module; the communication port of the terminal equipment is connected with the communication port of the PLC, the signal output end of the sensor unit is connected with the digital input module of the PLC, the signal output end of the counter unit is connected with the digital input module of the PLC, the signal output end of the image processing module is connected with the digital input module of the PLC, the signal output end of the power supply system is connected with each electric equipment such as the PLC and the motor, the output terminal of the PLC is connected with the driver, the driver is connected with each executing mechanism, and the other output terminal of the PLC is connected with the audio module. The PLC controller is arranged in the electric cabinet 2.
The terminal equipment is a parameter input and selection module 10 (seven-inch industrial touch screen) and is connected with a wireless remote controller, and a wireless receiver is connected with a digital input module of a PLC controller. The industrial touch screen is mainly used for inputting and selecting parameters, and the wireless remote controller is mainly used for manual control of the working platform; parameters input by the terminal equipment include the distance between the robot and the workpiece, a moving route, a pose, a platform lifting height and a platform working angle; parameters selected by the terminal equipment include a compressor model, an air valve model, an assembly station and a robot assembly program. The above-described terminal device is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and variations of the present invention will be apparent to those skilled in the art. For example, the terminal device is changed into one or more electronic products such as a mobile phone, a computer, a tablet and the like, and particularly, the electronic products are not strictly required for the terminal device. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
The sensor unit of the present invention includes an infrared ranging sensor 15, a level sensor 141, an ultrasonic module 13, an electronic compass 142, and a code wheel 143. The infrared ranging sensor 15 is used for measuring and controlling the distance between the robot and the workpiece, and is arranged in the terminal equipment by a required assembling machine type, and meanwhile, the alignment of the X axis of the platform and the X axis of the assembling body is ensured; the horizontal sensor 141 is used for platform leveling work, the angle amounts of the X axis and the Y axis fed back by the horizontal sensor are input to the PLC controller, and the rotation number of the turbine screw rod lifter 3 is controlled to reach the working angle of the platform set in the terminal equipment; the ultrasonic module is provided with two ultrasonic ranging sensors 13 which are arranged at two ends of the workbench 1 and are on the same side as the infrared ranging sensor 15, and the ultrasonic module is used for controlling the values obtained by the two ultrasonic sensors to be equal so as to achieve that the Y axis of the platform is parallel to the Y axis of the assembly body and compensating the precision of the infrared ranging sensor; the electronic compass 142 controls the rotation direction of the platform, and the code wheel 143 is used for measuring and controlling the moving distance of the platform, because errors generated by the electronic compass 142 are not overlapped, and are used for compensating the precision of the code wheel 143. The above-described sensor unit is only a preferred embodiment of the present invention, and does not limit the present invention. The individual sensor portions may be mounted at different locations as desired.
The image processing module adopts the real-time thermal imaging video camera, the pictures acquired by the real-time thermal imaging video camera are sent to the vision sensor driver for processing, the processing result is fed back to the PLC, the thermal imaging pictures acquired by the real-time thermal imaging video camera are subjected to time domain comparison, when the movement of a heat source is detected, the sensor confirms that the artificial movement exists in a working area, the machine alarms, and a pause working signal is sent to the robot, so that the safety protection function is realized. An image processing module (thermal imaging video camera) is mounted on top of the worm screw elevator 3.
The counter unit 16 is arranged on the input shaft of the worm wheel screw lifter 3 and mainly monitors the lifting and leveling work of the platform. The signal is fed back to the PLC in real time, the lifting height of the lifter is calculated according to the rotation number of the input shaft, the lifting height of the platform set in the terminal equipment is finally achieved, and then the platform is communicated with the level sensor for leveling.
The audio module is a loudspeaker and a driver thereof and is used for broadcasting key working states and alarming.
The executing mechanism of the invention comprises: a servomotor 17 and B servomotor 18. Wherein, the A servo motor 17 is connected with the Mecanum wheel 4 and controls the basic actions such as the movement and turning of the platform; and the servo motor 18 is connected with the worm wheel screw lifter 3 and is responsible for lifting and leveling work of the lifter. The Mecanum wheel 4 is provided with a special driver and is connected with a PLC controller.
The four A servo motors 17 are fixed on four wheel mounting frames and respectively control four Mecanum wheels 4. The Mecanum wheel drive, the damping spring damper 5, the A servomotor 17, and the Mecanum wheel 4 are all mounted on respective wheel mounts. Four B servo motors 18 are arranged at the bottom of the frame 6 and connected with the worm wheel screw rod lifter 3, control the movement of the worm wheel screw rod lifter 3 and are responsible for lifting and leveling the workbench 1. The Mecanum wheel 4 realizes any direction movement of the working platform.
Two channel steels 19 are arranged below the workbench 1 of the mechanical part and welded on the frame 6, so that the functions of increasing the load capacity and stabilizing the vehicle body are achieved. The telescopic legs 7 are used to increase the load carrying capacity and prevent the platform from tipping over.
The power supply system comprises a charger, an inverter, a battery pack, a 24V constant voltage source and a countercurrent protector, realizes bidirectional regulation of battery power supply and power supply, and simultaneously provides different voltages for working.
The invention provides a using method of a working platform for a multi-station air valve assembly robot, which comprises the following specific steps:
1) Connecting an RJ45 interface in the electrical control module with an RJ45 interface of the robot control cabinet through a network cable; connecting a power supply (or adopting a battery to supply power), and starting the robot after opening a working platform switch;
2) Selecting the type of the compressor assembled at this time from a man-machine interaction interface of the industrial touch screen, selecting the type of the air valve assembled at this time, selecting a required assembly station, and selecting a robot assembly program executed under the corresponding station;
3) Setting the distance between the robot and the workpiece in a man-machine interaction interface of an industrial touch screen, setting a platform moving route and a pose, setting a platform lifting height and setting a platform working angle;
4) After the platform reaches a designated station, a position locating program is started, the infrared ranging sensor is used for controlling the platform to reach a set distance, the platform is enabled to coincide with the X axis of the assembly, and then the two ultrasonic ranging sensors are used for controlling and adjusting the Y axis of the platform to be parallel to the Y axis of the assembly through an algorithm; specifically, setting an expected value in a human-computer interface, enabling the expected value to be identical to the measured value of the infrared ranging sensor, enabling the two ultrasonic ranging sensors to be simultaneously compared with the value (expected value) of the infrared ranging sensor, and controlling the four wheels to adjust the pose until the values of the two ultrasonic ranging sensors are identical;
5) Starting a lifting program, firstly controlling the turbine screw rod lifter to lift to a set height by a counter, and then controlling the turbine screw rod lifter to adjust to a set working angle of a platform by a horizontal sensor;
6) The platform completes basic work, a preselected assembly program is sent to the robot, and the robot starts to work;
7) After robot work is completed, a platform signal is returned, and the turbine screw rod lifter is retracted;
8) After the station is completed, the platform executes the next station program, and the steps 4-7 are repeated until all stations are completed;
9) In the whole workflow, the audio module performs key working state broadcasting, such as: "start working", "positioning complete", "lifting complete", "leveling complete", "start assembling", "working complete", etc.;
10 In the whole workflow, if the image processing module detects that the working area has artificial activities, the machine alarms and sends a pause working signal to the robot;
11 If the operation is needed, the operation can be performed by using a wireless remote controller; setting the moving route and pose parameters in the industrial touch screen to be "-1", and manually operating each subroutine by using the wireless remote controller;
12 If the carrying capacity is too great or the station extends too far, the telescoping legs can be opened to prevent the platform from tipping over.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. The application method for the working platform of the multi-station air valve assembly robot is characterized by comprising the following steps of:
(1) Connecting a data interface in the electrical control module with data of the robot control cabinet; starting the robot after opening the working platform switch;
(2) Selecting the type of the compressor assembled at this time from a man-machine interaction interface of the parameter input and selection module, selecting the type of the air valve assembled at this time, selecting a required assembly station, and selecting a robot assembly program executed under the corresponding station;
(3) Setting the distance between the robot and the workpiece in a man-machine interaction interface of the parameter input and selection module, setting the moving route and the pose of the working platform, setting the lifting height of the working platform and setting the working angle of the working platform;
(4) After the working platform reaches a designated station, a position locating program is started, the set distance is controlled by an infrared ranging sensor, the working platform is overlapped with an X axis of an assembly body, and then the Y axis of the working platform is controlled and adjusted to be parallel to the Y axis of the assembly body by two ultrasonic ranging sensors through an algorithm;
(5) Starting a lifting program, firstly controlling the turbine screw rod lifter to lift to a set height by a counter unit, and then controlling the turbine screw rod lifter by a level sensor to adjust to the working angle of a set working platform;
(6) The working platform completes basic work, a preselected assembly program is sent to the robot, and the robot starts to work;
(7) After the robot work is completed, a working platform signal is returned, and the turbine screw rod lifter is retracted;
(8) After the working station is completed, the working platform executes the next working station program, and the steps (4) to (7) are repeated until all the working stations are completed;
the working platform for the multi-station air valve assembly robot comprises a working platform (1), an electric cabinet (2), a worm gear screw rod lifter (3), a Mecanum wheel (4), a frame (6) and an electric control module; the workbench (1) is fixedly arranged in the central area of the frame (6); the electric cabinet (2) is arranged on the side surface of the workbench (1); the worm wheel screw rod lifter (3) is vertically and fixedly arranged at four corners of the frame (6); the electric control module comprises a parameter input and selection module (10), a sensor unit, a counter unit (16), an image processing module, a PLC controller, a power supply system and an executing mechanism; the signal transmission ports of the parameter input and selection module (10), the sensor unit, the counter unit (16) and the image processing module are respectively connected with the signal transmission port of the PLC controller; the counter unit (16) is arranged on an input shaft of the worm wheel screw rod lifter (3); the actuating mechanism comprises an A servo motor (17) and a B servo motor (18); the A servo motor (17) is fixedly arranged on the installation frame of the Mecanum wheel (4), and the power output end of the A servo motor is connected with the power input end of the Mecanum wheel (4); the servo motor (18) is fixedly arranged at the bottom of the frame (6), and the power output end of the servo motor is connected with the power input end of the worm wheel screw rod lifter; the signal transmission ports of the A servo motor (17) and the B servo motor (18) are respectively connected with the signal transmission port of the PLC through drivers; the power supply system respectively supplies power to the PLC controller, the A servo motor (17) and the B servo motor (18); a damping spring shock absorber (5) is fixedly arranged between the frame (6) and the Mecanum wheel (4); the image processing module is fixedly arranged at the top of the worm wheel screw rod lifter (3); the signal transmission port of the wireless receiver is connected with the signal transmission port of the PLC; the signal transmission port of the audio module is connected with the signal transmission port of the PLC; the sensor unit comprises an infrared ranging sensor (15), a horizontal sensor (141), an ultrasonic module (13), an electronic compass (142) and a code disc (143); the infrared ranging sensor (15) is fixedly arranged in the bottom center area of the workbench (1); the ultrasonic module (13) and the infrared ranging sensor (15) are arranged on the same side and are arranged at two ends of the workbench (1); the telescopic support legs (7) are arranged in the guide rails at the two ends of the frame (6) after being contracted; the working end of the crank (8) is arranged on the telescopic supporting leg (7).
2. The method for using a multi-station air valve assembly robot work platform according to claim 1, wherein: if the manual operation is needed, a wireless remote controller is adopted for operation; and setting the moving route and pose parameters in the parameter input and selection module to be '1', and using a wireless remote controller to perform manual operation of each subroutine.
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